CN104434248A - Apparatus and method for differentiating between tissue and mechanical obstruction in surgical instrument - Google Patents

Apparatus and method for differentiating between tissue and mechanical obstruction in surgical instrument Download PDF

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Publication number
CN104434248A
CN104434248A CN201410479971.9A CN201410479971A CN104434248A CN 104434248 A CN104434248 A CN 104434248A CN 201410479971 A CN201410479971 A CN 201410479971A CN 104434248 A CN104434248 A CN 104434248A
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China
Prior art keywords
motor
controller
scope
operating theater
theater instruments
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Granted
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CN201410479971.9A
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Chinese (zh)
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CN104434248B (en
Inventor
保劳格·萨普雷
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Covidien LP
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Covidien LP
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/32—Surgical cutting instruments
    • A61B17/320016—Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00137—Details of operation mode
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00473—Distal part, e.g. tip or head
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00734—Aspects not otherwise provided for battery operated
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0803—Counting the number of times an instrument is used
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0804—Counting number of instruments used; Instrument detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0807—Indication means
    • A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety

Abstract

A surgical instrument is provided. The surgical instrument includes: a handle assembly; a jaw assembly comprising a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; a drive assembly at least partially located within the handle and connected to the jaw assembly and the lockout mechanism; a motor disposed within the handle assembly and operatively coupled to the drive assembly; and a controller operatively coupled to the motor, wherein the controller is configured to control supply of electrical current to the motor and to monitor a current draw of the motor, the controller is further configured to terminate the supply of electrical current to the motor in response to a rate of change of the current draw indicative of a mechanical limit of at least one of the jaw assembly, the drive assembly, or the motor. The invention provides an apparatus and a method for differentiating between tissue and mechanical obstruction in the surgical instrument.

Description

The equipment that clamp tissue in differentiation operating theater instruments and machinery hinder and method
The cross reference of related application
This application claims to enjoy and be filed in interests and the priority that in JIUYUE, 2013 sequence number of 18 days is the U.S. Provisional Patent Application of 61/879,445, its full content is incorporated herein by reference.
Technical field
The disclosure relates to surgical apparatus, device and/or system for performing endoscopic operation technique and using method thereof.More specifically, the disclosure relates to dynamo-electric, hand held surgical unit and/or system, its be configured to for clamping, cutting and/or use together with end effector that the dismountable disposable end effector of anastomosed tissue and/or single use.
Background technology
The manufacturer of many operation devices has developed the product line having and be applicable to the special drive system operating and/or handle electro-mechanical surgical device.In many instances, described electro-mechanical surgical device comprises reusable Handleset, and the end effector of disposable end effector or single use.Described end effector can optionally be connected on described Handleset before use, and then, disconnects so that disposed or be sterilized in some instances to reuse after a procedure from described Handleset again.
Many this electro-mechanical surgical device comprise complicated driver part, and it utilizes the multiple user interface (such as, controller) receiving user's input carry out control device and provide feedback to user.For preventing the actuating of driving mechanism from exceeding mechanical limit, multiple switch and sensor are used to the operating condition detecting operation device.Multibreak switch is comprised and/or sensor presents various problems in device and end effector.In addition, cost or other considerations prevent the use of this device.Therefore, need to have without the need to relying on the multiple machine limit sensor arranged throughout operation device and/or switch just can detect system and the equipment of the release mechanism of mechanical limit.
Summary of the invention
A kind of operating theater instruments is provided according to an embodiment of the present disclosure.Described operating theater instruments comprises: Handleset; Clamp assemblies, it comprises the staple cartridge comprising multiple anastomosis staple and the anvil block making described multiple anastomosis staple be shaped when launching; Driven unit, it is positioned at described handle at least in part and is connected to described clamp assemblies and locking mechanism; Motor, it to be disposed in described Handleset and to be operatively attached to described driven unit; And controller, it is operatively attached to described motor, described controller is configured to the supply that controls to the electric current of described motor and monitors the current drain of described motor, wherein said controller is further configured to the supply stopping the electric current to described motor in response to the rate of change of described current drain, and the rate of change of described current drain indicates the mechanical limit of at least one in described clamp assemblies, described driven unit or described motor.
According to a scheme of above-described embodiment, whether whether described controller is further configured to the rate of change consumed by Cutoff current unstable at the first scope external judgement motor current.
According to a scheme of above-described embodiment, described controller is further configured to the rate of change consumed by Cutoff current in the second scope, whether judges whether motor current is stablized, and wherein said second scope is in described first scope.
According to a scheme of above-described embodiment, described controller is further configured to the stable counting (stability counter) of the current drain sample be stored in the second scope.
According to a scheme of above-described embodiment, if when described controller judges stable counting higher than predetermined Critical Stability value, whether motor current is stablized.
According to a scheme of above-described embodiment, described controller is further configured to: by judging whether described motor current rate of change that is whether stable and Cutoff current consumption judges whether described motor reaches mechanical limit in the 3rd scope.
According to a scheme of above-described embodiment, described 3rd scope is in described first scope and higher than described second scope.
According to a scheme of above-described embodiment, described controller is further configured to the failure count (event counter) of the current drain sample be stored in described 3rd scope.
According to a scheme of above-described embodiment, if described controller judges that failure count is higher than predetermined fault critical, whether described motor reaches mechanical limit.
According to another embodiment of the present disclosure, provide a kind of operating theater instruments.Operating theater instruments comprises: Handleset; Clamp assemblies, it comprises the staple cartridge comprising multiple anastomosis staple and the anvil block making described multiple anastomosis staple be shaped when launching; Driven unit, it is positioned at described handle at least in part and is connected to described clamp assemblies and locking mechanism; Motor, it to be disposed in described Handleset and to be operatively attached to described driven unit; And controller, it is operatively attached to described motor, described controller is configured to judge whether described motor reaches mechanical limit based on the rate of change of the current drain by described motor, the rate of change instruction mechanical limit of described current drain.
According to a scheme of above-described embodiment, whether whether described controller is further configured to the rate of change consumed by Cutoff current unstable at the first scope external judgement motor current.
According to a scheme of above-described embodiment, whether multiple samples that described controller is further configured to the rate of change consumed by Cutoff current judge in the second scope whether motor current is stablized.
According to a scheme of above-described embodiment, described controller is further configured to the stable counting of the current drain sample be stored in the second scope.
According to a scheme of above-described embodiment, if described controller judges that stable counting is higher than predetermined Critical Stability value, whether motor current is stablized.
According to a scheme of above-described embodiment, described controller is further configured to by judging whether multiple samples of the motor current whether rate of change of stable and Cutoff current consumption judge whether motor reaches mechanical limit in the 3rd scope.
According to a scheme of above-described embodiment, described second and the 3rd scope in described first scope, and described 3rd scope is higher than described second scope.
According to a scheme of above-described embodiment, described controller is further configured to the failure count of the current drain sample be stored in the 3rd scope.
According to a scheme of above-described embodiment, if described controller judges that failure count is higher than predetermined fault critical, whether motor reaches mechanical limit.
According to another embodiment of the present disclosure, provide the method for controlling operating theater instruments.Described method comprises: the current drain of monitoring motor, and wherein, described motor is attached to the driven unit for activating jaws assembly; The rate of change that calculating current consumes; And judge whether motor reaches mechanical limit based on the rate of change of the current drain of motor.
According to a scheme of above-described embodiment, whether described method comprises rate of change that Cutoff current consumes further outer thus judge that whether motor current is unstable in the first scope.
According to a scheme of above-described embodiment, whether multiple samples that described method comprises the rate of change of Cutoff current consumption further judge whether motor current is stablized in the second scope.
According to a scheme of above-described embodiment, described method comprises further: the stable counting being stored in the current drain sample in the second scope; And judged that if stable counting is higher than predetermined Critical Stability value, whether motor current would be stablized.
According to a scheme of above-described embodiment, described method comprises further: by judging that whether multiple samples of the motor current whether rate of change of stable and current drain judge whether motor reaches mechanical limit in the 3rd scope.
According to a scheme of above-described embodiment, described second and the 3rd scope in described first scope, and described 3rd scope is higher than described second scope.
According to a scheme of above-described embodiment, described method comprises further: the failure count being stored in the current drain sample in described 3rd scope; And judged that if failure count is higher than predetermined fault critical, whether motor would reach mechanical limit.
Accompanying drawing explanation
By referring to accompanying drawing, embodiment of the present disclosure will be described herein, wherein:
Fig. 1 is according to the axonometric chart comprising the decomposition of the Electromechanical surgical system of operating theater instruments, jointer and end effector of the present disclosure;
Fig. 2 is the axonometric chart of the operating theater instruments according to Fig. 1 of the present disclosure;
Fig. 3 is the axonometric chart separated according to the parts of the operating theater instruments of Fig. 1 of the present disclosure;
Fig. 4 is the axonometric chart of the battery of operating theater instruments according to Fig. 1 of the present disclosure;
Fig. 5 is the top view of the decomposed of operating theater instruments according to Fig. 1 of the present disclosure;
Fig. 6 is the front perspective view of the operating theater instruments according to Fig. 1 of the present disclosure, and wherein, described jointer is separated from described operating theater instruments;
Fig. 7 is the sectional view obtained along the 7-7 of Fig. 2 according to the operating theater instruments of Fig. 1 of the present disclosure;
Fig. 8 is the vertical view cutaway drawing obtained along the 8-8 of Fig. 2 according to the operating theater instruments of Fig. 1 of the present disclosure;
Fig. 9 is the axonometric chart separated according to the parts of the end effector of Fig. 1 of the present disclosure;
Figure 10 is the schematic diagram of the operating theater instruments according to Fig. 1 of the present disclosure;
Figure 11 is stored in the schematic diagram according to the motor current value in the internal memory of the operating theater instruments of Fig. 1 of the present disclosure;
Figure 12 is the flow chart of the method for controlling the operating theater instruments according to Fig. 1 of the present disclosure;
Figure 13 to Figure 15 is when being controlled by method of the present disclosure, the drawing of the motor current of operating theater instruments; And
Figure 16 is the flow chart of the method for operating theater instruments for controlling the Fig. 1 according to another embodiment of the present disclosure.
Detailed description of the invention
According to embodiment of the present disclosure, surgery systems is totally designated as 10, and described surgery systems is the form of power hand-held electromechanics apparatus, and the dynamo-electric apparatus of described power hand-held is configured to optionally be attached on it by multiple different end effector, each in described end effector is all configured to for being activated by described power hand-held electro-mechanical surgical apparatus and handled.
As shown in Figure 1, operating theater instruments 100 is configured to selectivity and connects jointer 200, and in turn, jointer 200 is configured to the load units 300 that selectivity connects end effector or single use.
As shown in Figure 1 to Figure 3, operating theater instruments 100 comprises handle housing 102, handle housing 102 has bottom housing part 104, middle case body 106 and upper housing portion 108, wherein, middle case body 106 extends from bottom housing part 104 and/or is supported on bottom housing part 104, and upper housing portion 108 extends from middle housing section 106 and/or is supported on middle case body 106.Middle case body 106 and upper housing portion 108 are separated into distally halfbody 110a and nearside halfbody 110b, wherein, distally halfbody 110a and bottom housing part 104 integral type are formed and extend from bottom housing part 104, and nearside halfbody 110b can be connected with distally halfbody 110a by multiple securing member.When joined, distally halfbody 110a and nearside halfbody 110b limits handle housing 102, has the cavity 102a having settled circuit board 150 and driving mechanism 160 in handle housing 102.
Can find out from Fig. 2 and Fig. 3, distally halfbody 110a and nearside halfbody 110b is divided along the plane of the longitudinal axis " X " of crosscut upper housing portion 108.Handle housing 102 comprises packing ring 112, and packing ring 112 fully extends around the edge of distally halfbody 110a and/or nearside halfbody 110b and is inserted between distally halfbody 110a and nearside halfbody 110b.Packing ring 112 seals the periphery of distally halfbody 110a and nearside halfbody 110b.The effect of packing ring 112 sets up airtight sealing between distally halfbody 110a and nearside halfbody 110b, makes circuit board 150 and driving mechanism 160 avoid sterilization and/or clean operation.
So, the periphery of the cavity 102a of handle housing 102 distally halfbody 110a is sealed, and nearside halfbody 110b is configured to that circuit board 150 and the assembling of driving mechanism 160 in handle housing 102 are become is more prone to and more efficient.
The middle case body 106 of handle housing 102 provides the housing settling circuit board 150.Circuit board 150 is configured to the multiple operation controlling operating theater instruments 100, and this will be described in further detail.
The bottom housing part 104 of operating theater instruments 100 defines hole (not shown), this hole be formed in bottom housing part 104 upper surface and to be positioned under middle case body 106 or within.The hole of bottom housing part 104 provides passage, electric wire 152 through described passage with the electric component that will be placed in bottom housing part 104 (such as, battery 156 as shown in Figure 4, circuit board 154 as shown in Figure 3, etc.) be placed in electric component (circuit board 150, driving mechanism 160 etc.) electric connection in middle case body 106 and/or upper housing portion 108.
Handle housing 102 comprises intrapore packing ring 103 (not shown) being arranged in bottom housing part 104, thus the hole of jam-pack or sealing bottom housing part 104 still allows electric wire 152 to pass therethrough.The effect of packing ring 103 sets up airtight sealing between bottom housing part 104 and middle case body 106, thus make circuit board 150 and driving mechanism 160 avoid sterilization and/or clean operation.
As shown in the figure, the bottom housing part 104 of handle housing 102 provides housing, and rechargeable battery 156 is arranged detachably in described housing.Battery 156 is configured to any electric component supply electric power to operating theater instruments 100.Bottom housing part 104 defines cavity (not shown), and battery 156 is inserted into described cavity.Bottom housing part 104 comprises door 105, and door 105 is pivotally connected to bottom housing part 104 for the cavity of closed bottom housing part 104 and is remained in described cavity by battery 156.
With reference to figure 3 and Fig. 5, the distally halfbody 110a of upper housing portion 108 defines nose or connecting portion 108a.Nose vertebral body 114 is supported on the nose 108a of upper housing portion 108.Nose vertebral body 114 is made up of transparent material.Illuminating member 116 is disposed in nose vertebral body 114, thus can see illuminating member 116 through it.Illuminating member 116 can be Light-Emitting Diode printed circuit board (PCB) (LED PCB).The multiple color that illuminating member 116 is configured to have the particular color pattern be associated with the discrete event of uniqueness throws light on.
The upper housing portion 108 of handle housing 102 provides the housing settling driving mechanism 160.As shown in Figure 5, driving mechanism 160 is configured to driving shaft and/or geared parts to perform the multiple operation of operating theater instruments 100.Especially, driving mechanism 160 is configured to driving shaft and/or geared parts thus optionally makes the proximal body portion 302 of the tool assembly 304 opposing end portions executor 300 of end effector 300 move (see Fig. 1 and Fig. 9), end effector 300 opposite handle housing 102 is rotated around longitudinal axis " X " (see Fig. 2), the nail bin groupware 308 of anvil assembly 306 opposing end portions executor 300 is moved, and/or launch identical and cutting nail bin in the nail bin groupware 308 of end effector 300.
Driving mechanism 160 comprises selecting type gear case assembly 162, and it is near the nearside of jointer 200.The nearside of selecting type gear case assembly 162 has function selecting module 163, the effect that function selecting module 163 has the first motor 164, first motor 164 is that the teeth parts optionally moved in selecting type gear case assembly 162 make described teeth parts engage with the input queued switches parts 165 with the second motor 166.
As shown in Figures 1 to 4, and as mentioned above, the distally halfbody 110a of upper housing portion 108 defines connecting portion 108a, and it is configured to the driving coupling assembly 210 of the correspondence receiving jointer 200.
As shown in Figure 6 to 8, the connecting portion 108a of operating theater instruments 100 has columniform groove 108b, and when jointer 200 mates with operating theater instruments 100, groove 108b receives the driving coupling assembly 210 of jointer 200.Connecting portion 108a holds three rotatable driving adapters 118,120,122.
As shown in Figure 6, when jointer 200 mates with operating theater instruments 100, each in the rotatable driving adapter 118,120,122 of operating theater instruments 100 drives adapter to be connected with the corresponding rotary connector sleeve pipe 218,220,222 of jointer 200.In this, corresponding first drives the handing-over between adapter 118 and the first connector ferrule 218, corresponding second drives the handing-over between adapter 120 and the second connector ferrule 220, and the 3rd of correspondence the drives the handing-over between adapter 122 and the 3rd connector ferrule 222 to be all key connecting, so that each in the driving adapter 118,120,122 of operating theater instruments 100 drives the rotation of adapter can cause the rotation of the correspondence of the connector ferrule 218,220,222 of the correspondence of jointer 200.
The driving adapter 118,120,122 of operating theater instruments 100 and the coupling of the connector ferrule 218,220,222 of jointer 200 allow revolving force to join via each adapter during three corresponding adapters join to transmit independently.The driving adapter 118,120,122 of operating theater instruments 100 is configured to driven-mechanism 160 and rotates independently.In this, the function selecting module 163 of driving mechanism 160 can select by the input queued switches parts 165 of driving mechanism 160 in the driving adapter 118,120,122 driving operating theater instruments 100 which or which.
Because each in the driving adapter of operating theater instruments 100 118,120,122 drives adapter and the handing-over of the corresponding connector ferrule 218,220,222 of jointer 200 to be keyed and/or substantially non-rotatable, when jointer 200 is connected to operating theater instruments 100, revolving force is delivered to jointer 200 by the driving mechanism 160 optionally from operating theater instruments 100.
The selectivity of the driving adapter 118,120 and/or 122 of operating theater instruments 100 rotates the difference in functionality allowing operating theater instruments 100 optionally to activate end effector 300.As discussed in more detail below, first of operating theater instruments 100 drives optionally and the independently open and close optionally and independently rotating the tool assembly 304 of respective ends executor 300 of adapter 118, and the driving of the coincideing of the tool assembly 304 of respective ends executor 300/cutting part.Equally, second of operating theater instruments 100 selectivity optionally and independently rotating crosscut longitudinal axis " X " (see Fig. 2) of the tool assembly 304 of respective ends executor 300 of adapter 120 is driven and independently Articulating.In addition, the 3rd of operating theater instruments 100 the drive adapter 122 optionally and independently rotate respective ends executor 300 relative to operating theater instruments 100 handle housing 102 around longitudinal axis " X " (see Fig. 2) optionally and independently rotate.
As mentioned above and as shown in Figure 5 and Figure 8, driving mechanism 160 comprises selecting type gear case assembly 162, and being placed in the function selecting module 163 of nearside of selecting type gear case assembly 162, the effect of function selecting module 163 is that the teeth parts optionally moved in selecting type gear case assembly 162 make described teeth parts engage with the second motor 166.Like this, at special time, driving mechanism 160 optionally drives one in the driving adapter 118,120,122 of operating theater instruments 100.
As shown in Figure 1 to Figure 3, on handle housing 102 distal surface that Control Component 107 is supported on middle case body 106 or side.Control Component 107 is mechanical sub-components of perfect in shape and function, its before being attached to apparatus 100 can with the remainder of apparatus 100 Integration Assembly And Checkout discretely.
Control Component 107, cooperates with middle case body 106, and the control knob 124,126 activate pair of finger and a pair rocker actuator 128,130 are supported in housing 107a.Control knob 124,126 is attached to outrigger shaft 125,127 respectively.Especially, Control Component 107 defines for receiving the upper hole 124a of outrigger shaft 125 slidably and for receiving the lower hole 126a of outrigger shaft 127 slidably.
About the structure of operating theater instruments 100 and discussing in detail of operation, can be the total U.S. Patent application of 13/331,047 with reference to application number, its full content be incorporated herein by reference.
With reference to Fig. 9, the driven unit 360 of end effector 300 comprises flexible drive shaft 364, and flexible drive shaft 364 has the distal end portion and nearside conjugant 368 that are fastened to power drive beam 365.Conjugant 368 comprises the scalariform portion limiting shoulder 370.The proximal end of conjugant 368 comprises the just relative finger 372 extended internally.Finger 372 engages with the drive member 374 of hollow thus drive member 374 is fastened firmly in the proximal end of axle 364.Drive member 374 limits nearside aperture, and the connecting elements of the driving tube 246 (Fig. 1) of jointer 200 is received in nearside aperture when end effector 300 is attached to the distal coupler 230 of jointer 200.
When driven unit 360 is now advanced distally in tool assembly 304, move in the passage driving the upper beam of beam 365 to limit between anvil block plate 312 and anvil covers 310, and underbeam moves in the passage of staple cartridge 305 and move to and carry out closing tool assembly 304 above the outer surface of carrier 316 and from wherein launching anastomosis staple.
The proximal body portion 302 of end effector 300 comprises sheath or the outer tube 301 of encapsulation upper housing portion 301a and bottom housing part 301b.Upper housing portion 301a and bottom housing part 301b encapsulates Articulating connector 366, and Articulating connector 366 has the hook-shaped proximal end 366a extended from the proximal end of end effector 300.When end effector 300 is secured to the distally housing 232 of jointer 200, the hook-shaped proximal end 366a of Articulating connector 366 engages with the hook (not shown) of jointer 200.As mentioned above, when the drive rod (not shown) of jointer 200 is pushed into or retracts, the Articulating connector 366 of end effector 300 can be pushed into or retract the distal end portion pivotable making tool assembly 304 relative to proximal body portion 302 in end effector 300.
As shown in Figure 9, the nail bin groupware 308 of tool assembly 304 comprises the staple cartridge 305 that can be supported in carrier 316.Staple cartridge 305 defines central longitudinal to slit 305a, and three the linear rows anastomosis staples be positioned on every side of longitudinal slit 305a keep slit 305b.Each anastomosis staple keeps slit 305b to receive a part for single anastomosis staple 307 and anastomosis staple pusher 309.During operating apparatus 100, driven unit 360 and actuating slide plate 350 adjoin and promote to activate slide plate 350 by nail bin 305.Along with actuating slide plate moves by nail bin 305, activate the cam wedge of slide plate 350 sequentially to engage with anastomosis staple pusher 309, thus keep moving anastomosis staple pusher 309 vertically in slit 305b and from wherein sequentially penetrating single anastomosis staple 307 with against anvil block plate 312 molding at anastomosis staple.
End effector 300 can also comprise one or more mechanical lock mechanism, such as, be 5,071 in sequence number, 052,5,397,046,5,413,267,5,415,335,5,715,988,5,718,359 and 6,109, the mechanical lock mechanism described in total United States Patent (USP) of 500, the full content of above-mentioned patent is combined in this by reference.
Figure 10 shows another embodiment of apparatus 100.Apparatus 100 comprises motor 164.Motor 164 can be any motor being configured to the electric power activating one or more driver (such as, the rotatable driving adapter 118,120,122 of Fig. 6).Motor 164 is attached to battery 156, described battery 156 can be that dc-battery (such as, rechargeable lead base, battery etc. that is Ni-based, lithium ion based), alternating current-direct current transformator or any other the applicable electric energy that provides are to the power supply of motor 164.
Battery 156 and motor 164 are attached to the motor drive circuit 404 be arranged on circuit board 154, and circuit board 154 controls the operation of motor 164, comprise electric energy and flow to motor 164 from battery 156.Drive circuit 404 comprise be configured to the operating condition measuring motor 164 and battery 156 multiple sensor 408a, 408b ... 408n.Sensor 408a-n can comprise voltage sensor, current sensor, temperature sensor, remote sensor, optical pickocff and combination thereof.Sensor 408a-408n can measure the voltage of the electric energy provided by battery 156, electric current and other electrology characteristics.Sensor 408a-408n also can measure the rotary speed according to revolution (RPM) per minute of motor 164, torque, temperature, current drain and other service performances.RPM is determined in rotation by measuring motor 164.The position of multiple driving shaft (such as, the rotatable driving adapter 118,120,122 of Fig. 6) is arranged in axle by use or the multiple linear transducer at adjacent shafts place is determined or estimates from RPM measurement.In an embodiment, under constant RPM, calculating torque can be carried out based on the rated current consumption of motor 164.In a further embodiment, drive circuit 404 and/or controller 406 can Measuring Time as the above-mentioned numerical value of its function process (such as, comprising integration and/or differential) to determine the change etc. of measured value.
Drive circuit 404 is also attached to controller 406, and controller 406 can be any applicable logic control circuit, and it is suitable for performing calculating and/or operating according to one group of instruction, and this will be described in more detail below.Controller 406 can comprise the CPU being operably connected to internal memory, internal memory can comprise ad hoc type internal memory (such as, RAM) and/or non-provisional type memory (such as, can read multi-memory card, disk video disc, etc.).Controller 406 comprises multiple input for joining drive circuit 404 and outfan.Especially, controller 406 receives the measured sensor signal carrying out the operating condition about motor 164 and battery 156 of driving circuit 404, and in turn, based on sensor reading and the instruction of specific algorithm, output control signals to drive circuit 404 to control the running of motor 164, this will be described in more detail below.Controller 406 is also configured to receive the multiple user's inputs from user interface (such as, being attached to the switch, button, touch screen etc. of the Control Component 107 of controller 406).
Present disclose provides the equipment for control device 100 or any other powered surgical apparatus and method, described powered surgical apparatus includes, but are not limited to linear power anastomat, circle or arc power anastomat, grasper, electrosurgical sealing tweezers, rotational tissue mixing arrangement (rotary tissue blendingdevice) etc.Especially, the torque of the driving shaft of apparatus 100, RPM, position and acceleration can be associated with motor characteristic (such as, current drain).The electric current consumed by motor 164 can be used to detect mechanical limit, this is because the electric current consumed by motor 164 changes along with the load of motor 164 and speed.Thus, to the load situation that the analysis of the variable quantity (such as, rate of change) of current drain allows difference dissimilar, such as, the load applied by mechanical stop (mechanical stop) is compared in the load applied by tissue.
In the process of motor 164 normal operating, current drain can not exceed predetermined scope (such as, the first scope) usually.In clamping and anastomosis procedures, the load being applied to motor 164 by tissue is changed in the second scope, and the second scope is comprised by the first scope.Especially, when motor 164 runs into owing to organizing the load caused by anvil block and nail bin groupware 306,308 clamping to increase, current drain increase and in the second scope continue the second period (such as, current drain increase continue the predetermined period).If motor 164 runs into mechanical limit, current drain also has corresponding increase within the relatively short time, and this current drain is greater than the current drain be associated with clamp tissue.Especially, the current drain caused due to mechanical stop continued for the 3rd period in the 3rd scope, and wherein said 3rd scope is higher than the second scope.By contrast, the startup of motor 164 all consumes more multiple current than any one in clamping/fastening or mechanical stop, and the persistent period of the current drain increased is the shortest in two current drains as above.
In an embodiment, can by comparing motor current and predetermined marginal value detects mechanical stop, this is because the electric current consumed by motor 164 when running into mechanical stop is usually far away higher than normal operation current.Controller 406 can use the satisfied of this condition to cut out motor 164.
When motor 164 runs into high momentary load (such as, grip tissue) in course of normal operation, this method presents some challenges.The current drain be associated with clamp tissue may reach marginal value, thus causes controller 406 to close motor 164 prematurely.In an embodiment, normal electric motor load curve can be built prevent too early closedown by the normal current consumption of split-phase motor 164.Then, controller 406 can be set up program thus cut out marginal value according to the adjustment of that curve.For the motor 164 of load curve having small variations, this configuration is applicable.But if load curve departs from and normally uses the current drain be associated, large variation may produce wrong report.
The efficiency of motor 164 and driving mechanism also can have impact to calculating motor current limitation.Because the mechanical efficiency of different apparatus may be different, so in an assembling process, each apparatus needs calibration separately.In addition, mechanical efficiency changes along with the wearing and tearing of apparatus and also can affect the performance of software.
The problem using single-marginal value or the algorithm based on curve is overcome according to algorithm of the present disclosure.Advantage according to algorithm of the present disclosure is: described algorithm utilize electric current along with the rate of change of time instead of by the amplitude of motor current compared with predetermined marginal value.The rate of change of the motor current be associated with different loads (such as, normal load, heavy duty, mechanical stop, load peaks, etc.) can be divided into different range, and wherein, each scope is associated with certain loads.Then, the scope of dividing can be used to identify the different loads of motor 164 and the spike that caused by startup and the stopping of motor 164 of filtering.Because the identification of mechanical load is rate of change based on motor current but not its amplitude, so do not affect remained capacity with departing from of load curve.In addition, mechanical efficiency does not affect the remained capacity of the rate of change based on motor current.More inefficient apparatus consume more multiple current to obtain identical speed, but, still similar to the slope of the system of greater efficiency for the slope (such as, the rate of change of current drain) reaching those speed.Which eliminate the demand to load curve (load profiling) and calibration operation in the process of assembling apparatus 100.
Low computational costs according to another advantage of algorithm of the present disclosure.Described algorithm is relied on the rate of change of calculating motor electric current and can be determined the rate of change of motor current by the difference obtained between two values, thus permission performs algorithm in 8 8-digit microcontrollers.
Can by periodically measuring the change of motor current to current sampling.In an embodiment, sampling rate can be from approximately per second 100 to approximately per second 10,000, in an embodiment, and from approximately per second 500 to approximately per second 1,000.Then, controller 406 can use the change of sample calculating motor electric current (such as, current drain).Then, controller 406 can use the change of motor current determine the operational scenario of apparatus 100 and take appropriate action.
The disclosure additionally provides feedback system for control device 100 and method, described feedback system and method are based on peripheral operation situation, the transmitting difficulty such as due to tissue thickness and/or mechanical stop (such as, driving beam 365 to arrive the distal end portion of the passage be limited in anvil block plate 312 and staple cartridge 305), apparatus 100 being run into.In addition, the different purposes that the disclosure is apparatus 100 in response to peripheral operation situation (such as, specific fault) supply a model, to obtain built-in system feedback.Controller 406 uses the sensor information of sensor 408a-n change the operating characteristic of apparatus 100 and/or point out specific operation situation to user.In an embodiment, controller 406 controls the electric current that (such as, limiting) is supplied to motor 164.
Controller 406 comprises computer-readable internal memory 406a for store software commands (such as, algorithm) and/or non-provisional medium, and described software instruction is used for the mechanical limit detecting apparatus 100 based on measured current drain.Used herein, term " mechanical limit " represents that any electromechanical component arrives travel terminus position, this including, but not limited to, such as, the distal end portion driving beam 365 to arrive to be limited at passage in anvil block plate 312 and staple cartridge 305, the actuating of machine security locking mechanism prevent the advancing of axle 364, the Articulating limit that Articulating connector 366 arrives end effector 300, etc.
To fall in the scope that limits in advance with the change starting the motor current be associated of some load situation (such as, clamp tissue or mechanical limit) and continue certain time.Described algorithm uses the operating characteristic of these situation identification motor 164 and responds to this.
With reference to Figure 11, internal memory 406a stores multiple current consumption value.Internal memory 406a comprises the enquiry form 500 or any other data structure be applicable to value " I-V ".First value " I " and the 5th value " V " limit the first scope, the stabling current consumption signal that normal (such as, carrying) that the first scope comprises instruction motor 164 operates.Second value " II " and the 3rd value " III " limit the second scope, the current drain that described second scope correspondence is associated with the current drain of motor 164 in the process of clamp tissue; 4th and the 5th value " IV " and " V " limit the 3rd scope, the current drain that described 3rd scope correspondence is associated with mechanical stop.In an embodiment, first value " I " can be worth with second " II " identical.
Controller 406 also comprises the counting of paid close attention to situation (condition-of-interest), the quantity of its counting sample, wherein, in counting process, the slope of motor current (such as, rate of change) in desired scope (the arbitrary scope such as, in first, second or the 3rd scope).Controller 406 also comprises signal stabilization counting, the quantity of the sample of its counting slope in the second scope.Controller 406 uses the value of form 500 to judge whether the rate of change of measured current drain signal is stablized.If the predetermined quantity of current drain sample is outside the first scope, then signal is considered to unstable; If the predetermined quantity of sample is in the second scope, then signal is considered to stable.
Figure 12 shows according to of the present disclosure for judging whether motor 164 runs into the method for mechanical stop.The software instruction (such as, algorithm) that described method can be stored in controller 406 as described above performs.First, controller 406 calculates the moving average of measured motor current (such as, current drain).Used herein, term " moving average " represents the average of predetermined subset sample, when the sample that each acquisition is new, upgrades described average.According to sampling rate as above, moving average can comprise from about multiple sample 2 to about multiple sample 256, and in an embodiment, from about multiple sample 16 to about multiple sample 64.Controller 406 stores the first moving average and calculates the second moving average of sample set subsequently.Then, controller 406 determines that difference between moving average is to calculate the change between sample.
As shown in Figure 12 to Figure 13, the moving average of sample can plot Figure 70 0,800,900, and the change wherein between sample is depicted as the slope of Figure 70 0,800,900.Figure 70 0,800,900 can produce and export over the display, thus allows user to watch the current drain of motor 164.In an embodiment, Figure 70 0,800,900 can be stored as a series of value in internal memory 406a, and without the need to by sample value regeneration figure.
The change of the motor current monitored also is restricted to slope, and is used to distinguish the dissimilar load run into by motor 164.Controller 406 is first by judging whether the slope/change calculated carrys out decision signal in the first scope outer (such as, slope is greater than the 5th value " V " or is less than the first value " I ") and whether stablize.For the sample of the quantity limited in advance, if slope is outside the first scope, controller 406 is by being set to counting and the signal stabilization counting that zero, 0 initialized or reset paid close attention to situation by the counting of paid close attention to situation and signal stabilization counting.In addition, signal condition is also set to " instability " by controller 406.
With reference to Figure 14 and Figure 15, the sample lower than the first value " I " as shown in figure 14 and the sample higher than the 5th value " V " are as shown in figure 15 by filtering, this is because abnormal undershoot in above-mentioned sample representation current drain and positive spike.These spikes can be caused by the startup of motor 164 and stopping and can causing based on the wrong report in the judgement algorithm of marginal value.
Whether at judgement slope after the first scope is outer, controller 406 judges slope whether in the second scope (value II≤slope≤value III).If so, then count increments is stablized.Before signal condition being become " stablizing ", controller 406 is verified stable counting and whether has been arrived predetermined marginal value.This guarantees that sample continues enough periods in the second scope.Anyly to depart from (such as, slope is outer in the first scope) all reset the counting of paid close attention to situation and signal stabilization counting and signal condition be set to " instability ", this describes above.
With reference to Figure 13 to Figure 15, have nothing to do with the actual margin of motor current sample, if slope is in the second scope, then signal is considered to stable.Thus, the lower-magnitude of the sample of the higher amplitude being fallen into the sample of second scope of Figure 15 by algorithm of the present disclosure with similarly mode process and the second scope falling into Figure 13 and Figure 14, this is because the attribute paid close attention to is the rate of change of the slope of motor current sample.
Controller 406 also judges sample whether in the 3rd scope.For each sample in the 3rd scope, when signal is considered to stable, the count increments of the situation paid close attention to.When sample drops to lower than the second value " II ", the count of the situation paid close attention to.The counting of the situation paid close attention to is used to identify mechanical stop, and this will hereafter be described in more detail.If the counting of the situation paid close attention to is higher than predetermined marginal value, then controller 406 is determined to arrive mechanical stop.With reference to Figure 13, multiple sample has the slope falling into the 3rd scope, which increase paid close attention to situation counting and, when arriving predetermined counting, trigger mark as follows: arrive mechanical stop.Once controller 406 is determined to arrive mechanical limit, the electric current supply to motor 164 can be stopped thus prevent the further operation of apparatus 100, and/or apparatus 100 can give the alarm.
Figure 16 show according to another embodiment of the present disclosure for determining whether motor 164 runs into the method for mechanical stop.
As mentioned above, controller 406 comprises the counting of the stable situation counted and pay close attention to.Controller 406 comprises positive spike counting and undershoot counting further.These countings keep electric current (such as, slope) to exceed the number of times of the first scope.More specifically, when motor current is higher than value " V ", positive spike count increments; When motor current is lower than value " I ", undershoot count increments.Whether controller 406 uses the rate of change of the current drain signal measured by the judgement of the value of form 500 to stablize.If the current drain sample of predetermined quantity is in the first scope outer (such as, the quantity of positive spike and undershoot is higher than predetermined positive spike and undershoot marginal value), then signal is considered to unstable; If the sample of predetermined quantity is in the second scope, then signal is considered to stable.
As mentioned above, the method for Figure 16 can also be performed according to the software instruction be stored in controller 406 (such as, algorithm).First, controller 406 calculates the moving average of measured motor current (such as, current drain).Used herein, term " moving average " represents the average of predetermined subset sample, when the sample that each acquisition is new, upgrades described average.According to sampling rate as above, moving average can comprise from about 2 samples to about 256 samples, and in an embodiment, from about 16 samples to about 64 samples.Controller 406 stores the first moving average and calculates the second moving average of sample set subsequently.Then, controller 406 determines the difference between moving average thus the change (such as, slope) between calculating sample.
The change of monitored motor current is also restricted to slope, and for distinguishing the dissimilar load that motor 164 runs into.First, controller 406 judges whether slope is greater than the 5th value " V " and moving average is before updated to the moving average calculated at present.If slope is higher than the 5th value " V ", then positive spike count increments and undershoot count.In addition, whether controller 406 investigates positive spike counting higher than predetermined positive spike counting marginal value.If so, controller 406 initializes or resets paid close attention to situation counting and signal stabilization counting by paid close attention to situation counting and signal stabilization counting are set to zero, 0.In addition, signal condition is also set to " instability " by controller 406.If positive spike counting lower than predetermined positive spike counting marginal value, then stablizes count.
After whether judgement slope is higher than the 5th value " V ", controller 406 judges if sample drops to lower than the second value " II ", then the count of paid close attention to situation.
Controller 406 also judges whether slope is less than the first value " I " and moving average is before updated to the moving average calculated at present.If slope is higher than the first value " I ", then undershoot count increments and positive spike count.In addition, whether controller 406 investigates undershoot counting higher than predetermined undershoot counting marginal value.If so, controller 406 initializes or resets paid close attention to situation counting and signal stabilization counting by paid close attention to situation counting and signal stabilization counting are set to zero, 0.In addition, signal condition is also set to " instability " by controller 406.If undershoot counting lower than predetermined undershoot counting marginal value, then stablizes count.
With reference to Figure 14 and Figure 15, the sample lower than the first value " I " as shown in figure 14 and the sample higher than the 5th value " V " are as shown in figure 15 by filtering, this is because abnormal undershoot in above-mentioned sample representation current drain and positive spike.These spikes can be caused by the startup of motor 164 and stopping and can causing based on the wrong report in the judgement algorithm of marginal value.
Controller 406 also judges slope whether in the second scope (such as, being worth " II "≤slope≤value " III ").If so, then count increments is stablized.Before signal condition being changing into " stablizing ", controller 406 is also verified stable counting and whether has been reached predetermined marginal value.This guarantees that sample continues enough periods in the second scope.In addition, controller 406 initializes or resets positive spike and undershoot counting by positive spike counting and undershoot counting are set to zero, 0.No matter stable counting lower than or higher than predetermined marginal value, moving average is before updated to the moving average of calculating at present.Anyly to depart from (such as, slope is outer in the first scope) also reset the counting of paid close attention to situation and signal stabilization counting and and signal condition is set to " instability ", this describes above.
Controller 406 also judges sample whether in the 3rd scope.For each sample in the 3rd scope, when signal is considered to stable, the counting of the situation paid close attention to increases.The counting of the situation paid close attention to is used to identify mechanical stop, and this will hereafter be described in more detail.If the counting of the situation paid close attention to is higher than predetermined marginal value, controller 406 is determined to arrive mechanical stop.With reference to Figure 13, multiple sample has the slope falling into the 3rd scope, and this makes the count increments of paid close attention to situation, and, when arriving predetermined counting, triggering and indicating as follows: arriving mechanical stop.Once controller 406 is determined to arrive mechanical limit, the electric current supply to motor 164 can be stopped thus prevent the further operation of apparatus 100, and/or apparatus 100 can give the alarm.
Except the basic feedback about device performance, the disclosure additionally provides the detection for power set and understands the method for other external factor (such as, the previous thicker tissue being difficult to detection).As a result, termination (cutoff) and the value of the improvement of the limit can be realized, significantly improve power set safety in use.Use feedback mechanism as discussed above, user can arrange using when operating apparatus 100 what and technology makes wise decision.This wisdom can contain selects different loaders again to be launched by linear anastomat, determine with different Articulating angular emission, the diverse surgical technic of choice for use.
It should be understood that aforementioned description is only illustrative description of the present disclosure.Those skilled in the art can design plurality of optional scheme and improvement in the case of not departing from the present disclosure.Therefore, disclosure intention comprises all this possibilities, improvement and variation.The embodiment that introduction describes with reference to the accompanying drawings is just to showing embodiments more of the present disclosure.Other substantive different elements, step, Method and Technology is not had to be intended to included within the scope of the present disclosure yet from those above and/or described by claims.

Claims (18)

1. an operating theater instruments, it comprises:
Handleset;
Clamp assemblies, it comprises the staple cartridge comprising multiple anastomosis staple and the anvil block making described multiple anastomosis staple be shaped when launching;
Driven unit, it is positioned at described handle at least in part and is connected to described clamp assemblies and locking mechanism;
Motor, it to be disposed in described Handleset and to be operatively attached to described driven unit; And
Controller, it is operatively attached to described motor, described controller is configured to the supply that controls to the electric current of described motor and monitors the current drain of described motor, wherein said controller is further configured to the supply stopping the electric current to described motor in response to the rate of change of described current drain, and the rate of change of described current drain indicates the mechanical limit of at least one in described clamp assemblies, described driven unit or described motor.
2. operating theater instruments according to claim 1, whether the rate of change that wherein said controller is further configured to by judging described current drain is when unstable at the first scope external judgement motor current of current consumption value.
3. operating theater instruments according to claim 2, whether the rate of change that wherein said controller is further configured to by judging described current drain judges whether motor current is stablized in the second scope of current consumption value, and wherein said second scope is in described first scope.
4. operating theater instruments according to claim 3, wherein said controller is further configured to the stable counting of the current drain sample be stored in described second scope.
5. operating theater instruments according to claim 4, wherein said controller judges whether stablize higher than motor current during predetermined Critical Stability value when described stable counting.
6. operating theater instruments according to claim 5, wherein said controller is further configured to by judging that whether described motor current is stable and judge whether the rate of change of described current drain judges in the 3rd scope when described motor has reached described mechanical limit.
7. operating theater instruments according to claim 6, wherein said 3rd scope is in described first scope and higher than described second scope.
8. operating theater instruments according to claim 6, wherein said controller is further configured to the failure count of the current drain sample be stored in described 3rd scope.
9. operating theater instruments according to claim 8, wherein said controller judges whether reached described mechanical limit when described failure count higher than motor described during predetermined fault critical.
10. an operating theater instruments, it comprises:
Handleset;
Clamp assemblies, it comprises the staple cartridge comprising multiple anastomosis staple and the anvil block making described multiple anastomosis staple be shaped when launching;
Driven unit, it is positioned at described handle at least partly and is connected to described clamp assemblies and locking mechanism;
Motor, it to be disposed in described Handleset and to be operatively attached to described driven unit; And
Controller, it is operatively attached to described motor, and described controller is configured to judge whether described motor reaches mechanical limit based on the rate of change of the current drain of described motor, the rate of change instruction mechanical limit of described current drain.
11. operating theater instruments according to claim 10, whether whether the rate of change that wherein said controller is further configured to by judging described current drain unstable at the first scope external judgement motor current.
12. operating theater instruments according to claim 11, whether multiple sample that wherein said controller is further configured to the rate of change by judging described current drain judges in the second scope whether motor current is stablized.
13. operating theater instruments according to claim 12, wherein said controller is further configured to the stable counting of the current drain sample be stored in described second scope.
14. operating theater instruments according to claim 13, wherein said controller judges whether stablize higher than motor current during predetermined Critical Stability value when described stable counting.
15. operating theater instruments according to claim 12, wherein said controller is further configured to by judging that described motor current is whether stable and judge whether multiple samples of rate of change of described current drain judge whether described motor reaches mechanical limit in the 3rd scope.
16. operating theater instruments according to claim 15, wherein said second scope and the 3rd scope in described first scope and described 3rd scope higher than described second scope.
17. operating theater instruments according to claim 15, wherein said controller is further configured to the failure count of the current drain sample be stored in described 3rd scope.
18. operating theater instruments according to claim 17, wherein said controller judges whether arrive mechanical limit when described failure count higher than motor described during predetermined fault critical.
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